Research Papers

Motion Control of a Container With Slosh: Constrained Sliding Mode Approach

[+] Author and Article Information
Hanz Richter

Department of Mechanical Engineering, Cleveland State University, 245 Stilwell Hall, 2121 Euclid Avenue, Cleveland, OH 44115h.richter@csuohio.edu

J. Dyn. Sys., Meas., Control 132(3), 031002 (Apr 14, 2010) (10 pages) doi:10.1115/1.4001329 History: Received April 06, 2008; Revised February 08, 2010; Published April 14, 2010; Online April 14, 2010

A constrained sliding mode control methodology developed by the author is applied to the motion control of an open container filled with liquid. The objective is to control the position of the container to meet the performance and robustness requirements, and to specify a safe operating set, i.e., the set of initial conditions from which the system can be operated without exceeding a prescribed liquid level and additional constraints. A conventional sliding mode regulator is designed first to address nominal performance in the sliding mode. Then, a robustly invariant cylinder formed as the Cartesian product of an ellipsoid, and a closed interval is constructed using linear matrix inequalities. A set of constraint qualification conditions are evaluated to ensure that the intersection of the cylinder and the state constraints is robustly positively invariant, constituting the required operating set. Simulations and experimental results corresponding to a high-speed transfer validate the methodology.

Copyright © 2010 by American Society of Mechanical Engineers
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Figure 1

Generic plant structure for slosh problem

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Figure 2

Tank and sensor mounted on the slide

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Figure 3

Schematic of the measurement and control system

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Figure 4

Model and experimental frequency response

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Figure 5

Time-domain model prediction

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Figure 6

Simulation results

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Figure 7

Position-level plane

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Figure 8

Velocity-level rate plane

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Figure 9

Experimental results



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